Title :
A Running Controller of Humanoid Biped HRP-2LR
Author :
Kajita, Shuuji ; Nagasaki, Takashi ; KANEKO, Kenji ; YOKOI, Kazuhito ; Tanie, Kazuo
Author_Institution :
National Institute of Advanced Industrial Science and Technology(AIST) Tsukuba, Ibaraki 305-8568, Japan, Email: s. kajita@aist.go.jp
Abstract :
This article explains a control system, which stabilizes running biped robot HRP-2LR. The robot uses prescribed running pattern calculated by resolved momentum control, and a running controller stabilizes the system against disturbances. The running controller consists of posture stabilization, inverted pendulum stabilization, contact torque control, impact absorbing control, foot vertical force control and torque distribution control. Applying the proposed controller, HRP-2LR could successfully run with average speed of 0.16(m/s) repeating flight phase of 0.06 (s) and support phase of 0.3 (s).
Keywords :
Biped locomotion; Humanoid; Jogging; Running; Stabilization; Control systems; Foot; Force control; Hardware; Humanoid robots; Leg; Legged locomotion; Service robots; Springs; Torque control; Biped locomotion; Humanoid; Jogging; Running; Stabilization;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570186
